BRIX5

/***************************************************************************

 CONSTRUCTOR

 ***************************************************************************/

/**************************************************************************/

/*!

    @brief  Instantiates a new Adafruit_BNO055 class

    delay(10);

  }

  delay(50);

  /* Set to normal power mode */

  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);

  delay(10);

  write8(BNO055_PAGE_ID_ADDR, 0);

  /* Set the output units */

  /*

  uint8_t unitsel = (0 << 7) | // Orientation = Android

  write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);

  delay(1000);

  /* System Status (see section 4.3.58)

     ---------------------------------

     0 = Idle

     4 = Executing Self-Test

     5 = Sensor fusio algorithm running

     6 = System running without fusion algorithms */

  if (system_status != 0)

    *system_status    = read8(BNO055_SYS_STAT_ADDR);

  /* Self Test Results (see section )

     --------------------------------

     1 = test passed, 0 = test failed

     Bit 0 = Accelerometer self test

     Bit 1 = Magnetometer self test

     Bit 2 = Gyroscope self test

     Bit 3 = MCU self test

     0x0F = all good! */

  if (self_test_result != 0)

    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);

     8 = Accelerometer power mode not available

     9 = Fusion algorithm configuration error

     A = Sensor configuration error */

  if (system_error != 0)

    *system_error     = read8(BNO055_SYS_ERR_ADDR);

  /* Check the SW revision */

  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);

  a = read8(BNO055_SW_REV_ID_LSB_ADDR);

  b = read8(BNO055_SW_REV_ID_MSB_ADDR);

  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);

/**************************************************************************/

/*!

*/

/**************************************************************************/

int8_t Adafruit_BNO055::getTemp(void)

  imu::Vector<3> xyz;

  uint8_t buffer[6];

  memset (buffer, 0, 6);

  int16_t x, y, z;

  x = y = z = 0;

  /* Read vector data (6 bytes) */

  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);

  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);

  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);

  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);

      xyz[2] = ((double)z)/100.0;

      break;

  }

  return xyz;

}

{

  uint8_t buffer[8];

  memset (buffer, 0, 8);

  int16_t x, y, z, w;

  x = y = z = w = 0;

  /* Read quat data (8 bytes) */

  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);

  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);

byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )

{

  byte value = 0;

  Wire.beginTransmission(_address);

  #if ARDUINO >= 100

    Wire.write((uint8_t)reg);

  #else

    value = Wire.receive();

  #endif

  return value;

}

  /* Wait until data is available */

  while (Wire.available() < len);

  for (uint8_t i = 0; i < len; i++)

  {

    #if ARDUINO >= 100

      buffer[i] = Wire.receive();

    #endif

  }

  /* ToDo: Check for errors! */

  return true;

}

                                uint8_t *self_test_result,

                                uint8_t *system_error);

    void  displaySystemStatus ( void );

    imu::Vector<3>  getVector ( adafruit_vector_type_t vector_type );

    imu::Quaternion getQuat   ( void );

name=Adafruit BNO055

author=Adafruit <info@adafruit.com>

maintainer=Adafruit <info@adafruit.com>

sentence=Library for the Adafruit BNO055 Absolute Orientation Sensor.